WO2013095232A1 - Method and module for controlling a vehicle's speed based on rules and/or costs - Google Patents
Method and module for controlling a vehicle's speed based on rules and/or costs Download PDFInfo
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- WO2013095232A1 WO2013095232A1 PCT/SE2011/051567 SE2011051567W WO2013095232A1 WO 2013095232 A1 WO2013095232 A1 WO 2013095232A1 SE 2011051567 W SE2011051567 W SE 2011051567W WO 2013095232 A1 WO2013095232 A1 WO 2013095232A1
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- WIPO (PCT)
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- prediction
- speed
- acc
- vehicle
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- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000004088 simulation Methods 0.000 claims description 47
- 230000006870 function Effects 0.000 claims description 35
- 238000004364 calculation method Methods 0.000 claims description 21
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 238000005265 energy consumption Methods 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 6
- 238000011156 evaluation Methods 0.000 claims description 4
- 239000000446 fuel Substances 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 9
- 238000011217 control strategy Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 7
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- 238000005096 rolling process Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/244—Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Definitions
- Cruise control is now usual in motor vehicles, e.g. cars, trucks and buses.
- An object of cruise control is to achieve a uniform predetermined speed. This is done either by adjusting the engine torque to avoid retardation, or by applying braking action on downhill runs where the vehicle is accelerated by its own weight.
- a more general object of cruise control is to provide convenient driving and better comfort for the vehicle's driver.
- a driver of a vehicle equipped with cruise control usually chooses a set speed v set as the speed he/she wishes the vehicle to maintain on level roads.
- a cruise control then supplies an engine system of the vehicle with a reference speed v ref used for control of the engine.
- the set speed v set may thus be regarded as an input signal to the cruise control, whereas the reference speed v re f may be regarded as an output signal from the cruise control and is used for control of the engine.
- CC cruise control
- v ref constant reference speed
- v set a desired speed chosen for example by him/her
- v set a desired speed chosen for example by him/her
- v set a desired speed chosen for example by him/her
- the value of the reference speed v re f changes only when adjusted by the driver while the vehicle is in motion.
- the reference speed v re f is then sent to a control system which controls the vehicle so that its speed corresponds when possible to the reference speed v re f.
- Knowledge of the road section ahead may for example comprise information about prevailing topology, road curvature, traffic situation, roadworks, traffic density and state of road. It may further comprise a speed limit on the section ahead, and a traffic sign beside the road.
- location information e.g. GPS (global positioning system) information, map information and/or topographical map information, weather reports, information communicated between vehicles and information provided by radio. All this knowledge may be used in a variety of ways. For example, information about a speed limit on the road ahead may be used to achieve fuel efficiency by lowering the vehicle's speed before reaching a lower speed limit. Similarly, knowledge of a road sign which indicates for example a roundabout or intersection ahead may also be used to achieve fuel efficiency by braking before the vehicle reaches the roundabout or intersection.
- At least one of these rules is that the reference value on which the vehicle speed is to be regulated is a value corresponding to the set speed v set if said first prediction v pre d jnew ret of the vehicle speed is below the lower limit value v m j n and at the same time said second prediction v pre d Tnew acc of the vehicle speed is above the upper limit value v ma x.
- the at least one reference value is a value which represents said first predicted vehicle speed Pred_Tnew_ret if a minimum value for said first predicted speed is equal to or above the lower limit value v m j n and if also a maximum value for said first predicted speed is equal to or above a further upper limit value v max2 which is related to a set speed v set .
- Figure 5 illustrates the vehicle's predicted speeds according to an embodiment of the invention.
- a number of simulation cycles may be done along the length of the horizon.
- a simulation cycle Sj may comprise a number N of simulation steps which may be conducted at a predetermined rate f. According to the invention, the following steps are performed during such a simulation cycle Sj;
- n is the vehicle's engine speed and i, ol the vehicle's total transmission ratio.
- the vehicle's acceleration Acc is given by
- dP K v, ml (eq.8) where AT is a time constant, e.g.0.9s, and v init is prevailing vehicle speed at the beginning of the simulation.
- the reference speed v ref is determined to a value which represents said first predicted vehicle speed v pre d Tn ew_ret if a minimum value for said first predicted speed is equal to or above the lower limit value v m in and if also a maximum value for said first predicted speed is equal to or above a further upper limit value v ma x 2 which is related to a set speed v set .
- the further upper limit value v max2 corresponds to the set speed plus a constant ci, i.e.
- the cost functions J-mew_ret , JTnew_acc, JTk+new_ret and JTk+new_acc for said first prediction v pre d_Tnew_ret, said second prediction pred_Tnew_acc, said further first prediction v pre d _Tk+new_ret and said further second prediction v P red_Tk+new_acc of the vehicle speed Vpred Tnew_ret, of the vehicle speed are subjected to a cost function comparison followed by determining said at least one reference value on the basis of said comparison to arrive at lowest cost.
- the reference value is set to whichever from among said first prediction, said second prediction, said further first prediction and said further second prediction of the vehicle speed results in least cost. This is done in this embodiment at step S23 for acceleration and at step S33 for retardation ( Figure 4).
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11878274.7A EP2794379B1 (en) | 2011-12-22 | 2011-12-22 | Method and module for controlling a vehicle's speed based on rules and/or costs |
CN201180075633.3A CN103998314A (en) | 2011-12-22 | 2011-12-22 | Method and module for controlling a vehicle's speed based on rules and/or costs |
KR1020147020626A KR101601889B1 (en) | 2011-12-22 | 2011-12-22 | Method and module for controlling a vehicle's speed based on rules and/or costs |
RU2014130046A RU2014130046A (en) | 2011-12-22 | 2011-12-22 | METHOD AND MODULE FOR MANAGING VEHICLE SPEED ON THE BASIS OF RULES AND / OR VALUES |
US14/367,465 US9108639B2 (en) | 2011-12-22 | 2011-12-22 | Method and module for controlling a vehicle's speed based on rules and/or costs |
BR112014012359-4A BR112014012359B1 (en) | 2011-12-22 | 2011-12-22 | method and module to control vehicle speed based on rules and / or costs |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE1151246A SE536270C2 (en) | 2011-12-22 | 2011-12-22 | Method and module for controlling the speed of a vehicle based on rules and / or costs |
SE1151246-4 | 2011-12-22 |
Publications (1)
Publication Number | Publication Date |
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WO2013095232A1 true WO2013095232A1 (en) | 2013-06-27 |
Family
ID=48668941
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE2011/051567 WO2013095232A1 (en) | 2011-12-22 | 2011-12-22 | Method and module for controlling a vehicle's speed based on rules and/or costs |
Country Status (8)
Country | Link |
---|---|
US (1) | US9108639B2 (en) |
EP (1) | EP2794379B1 (en) |
KR (1) | KR101601889B1 (en) |
CN (1) | CN103998314A (en) |
BR (1) | BR112014012359B1 (en) |
RU (1) | RU2014130046A (en) |
SE (1) | SE536270C2 (en) |
WO (1) | WO2013095232A1 (en) |
Cited By (4)
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CN103496368A (en) * | 2013-09-25 | 2014-01-08 | 吉林大学 | Automobile cooperative type self-adaptive cruise control system and method with learning ability |
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RU2678416C2 (en) * | 2014-05-01 | 2019-01-28 | Форд Глобал Технолоджис, ЛЛК | Cruise control system of vehicle and method for operation thereof |
RU2701620C2 (en) * | 2014-10-02 | 2019-09-30 | Форд Глобал Текнолоджиз, Ллк | Predictive control based on adaptive model for vehicle route planning |
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EP2794330A4 (en) * | 2011-12-22 | 2015-12-30 | Scania Cv Ab | Method and module for determining of at least one reference value |
CN104010863A (en) * | 2011-12-22 | 2014-08-27 | 斯堪尼亚商用车有限公司 | Method and module for controlling vehicle speed based on rules and/or costs |
US10124784B2 (en) * | 2015-04-13 | 2018-11-13 | Ford Global Technologies, Llc | Method and system for controlling shifting of a vehicle in cruise control |
US9849880B2 (en) * | 2015-04-13 | 2017-12-26 | Ford Global Technologies, Llc | Method and system for vehicle cruise control |
CN105644563B (en) * | 2015-12-22 | 2018-03-16 | 广州汽车集团股份有限公司 | A kind of throttle transient condition driving evaluation method and system |
CN105946861B (en) * | 2016-06-02 | 2018-05-01 | 大连理工大学 | A kind of NAR neutral net speed prediction methods based on driving intention identification |
CN110225854B (en) | 2017-01-25 | 2022-09-20 | 卡明斯公司 | System and method for predictive gear shift and integrated predictive cruise control |
US10029685B1 (en) * | 2017-02-24 | 2018-07-24 | Speedgauge, Inc. | Vehicle speed limiter |
JP6294542B1 (en) * | 2017-06-15 | 2018-03-14 | ヤフー株式会社 | Estimation apparatus, estimation method, and estimation program |
WO2019032568A1 (en) * | 2017-08-11 | 2019-02-14 | Cummins Inc. | Route parameter manager system |
CN107856670B (en) * | 2017-11-06 | 2019-03-08 | 吉林大学 | A kind of optimal control Rules extraction method of planetary hybrid power system |
AT522167B1 (en) * | 2019-06-13 | 2020-09-15 | Avl List Gmbh | Method and device for predictive vehicle control |
US11181063B2 (en) | 2019-12-30 | 2021-11-23 | Cummins Inc. | Predictive road speed governor |
CN112265546B (en) * | 2020-10-26 | 2021-11-02 | 吉林大学 | Networked automobile speed prediction method based on time-space sequence information |
CN113415277B (en) * | 2021-07-27 | 2022-10-11 | 重庆长安汽车股份有限公司 | Control method and system for accelerating control right transfer of electric automobile |
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2011
- 2011-12-22 BR BR112014012359-4A patent/BR112014012359B1/en active IP Right Grant
- 2011-12-22 WO PCT/SE2011/051567 patent/WO2013095232A1/en active Application Filing
- 2011-12-22 KR KR1020147020626A patent/KR101601889B1/en active IP Right Grant
- 2011-12-22 RU RU2014130046A patent/RU2014130046A/en not_active Application Discontinuation
- 2011-12-22 SE SE1151246A patent/SE536270C2/en unknown
- 2011-12-22 EP EP11878274.7A patent/EP2794379B1/en active Active
- 2011-12-22 US US14/367,465 patent/US9108639B2/en active Active
- 2011-12-22 CN CN201180075633.3A patent/CN103998314A/en active Pending
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Cited By (8)
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CN103496368A (en) * | 2013-09-25 | 2014-01-08 | 吉林大学 | Automobile cooperative type self-adaptive cruise control system and method with learning ability |
CN103496368B (en) * | 2013-09-25 | 2016-04-20 | 吉林大学 | There is Automobile cooperative type self-adaptive adaptive cruise control system and the method for learning ability |
RU2678416C2 (en) * | 2014-05-01 | 2019-01-28 | Форд Глобал Технолоджис, ЛЛК | Cruise control system of vehicle and method for operation thereof |
RU2701620C2 (en) * | 2014-10-02 | 2019-09-30 | Форд Глобал Текнолоджиз, Ллк | Predictive control based on adaptive model for vehicle route planning |
WO2016064327A1 (en) * | 2014-10-20 | 2016-04-28 | Scania Cv Ab | Method and system for propulsion of a vehicle |
KR20170070142A (en) * | 2014-10-20 | 2017-06-21 | 스카니아 씨브이 악티에볼라그 | Method and system for propulsion of a vehicle |
US10421454B2 (en) | 2014-10-20 | 2019-09-24 | Scania Cv Ab | Method and system for propulsion of a vehicle |
KR102069757B1 (en) | 2014-10-20 | 2020-01-23 | 스카니아 씨브이 악티에볼라그 | Method and system for propulsion of a vehicle |
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EP2794379A4 (en) | 2016-09-14 |
RU2014130046A (en) | 2016-02-10 |
BR112014012359B1 (en) | 2021-03-09 |
SE1151246A1 (en) | 2013-06-23 |
KR101601889B1 (en) | 2016-03-21 |
EP2794379A1 (en) | 2014-10-29 |
BR112014012359A2 (en) | 2017-06-13 |
US9108639B2 (en) | 2015-08-18 |
CN103998314A (en) | 2014-08-20 |
KR20140107585A (en) | 2014-09-04 |
EP2794379B1 (en) | 2018-10-03 |
BR112014012359A8 (en) | 2017-06-20 |
US20140350821A1 (en) | 2014-11-27 |
SE536270C2 (en) | 2013-07-23 |
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